Power supply management system for exoskeleton robot

Abstract

The invention discloses a power supply management system for an exoskeleton robot. The power supply management system comprises a battery pack, a circuit protection module, a power supply conditioning module, a safety isolation module, a parameter detection module, a battery protection module and a communication interface module. The fluctuation voltage output by the battery is converted into stable electric energy by the power supply conditioning circuit, wherein the stable electric energy satisfies voltage, power and other power supply requirements of a control system, a sensing system and a driving system; the state information of the voltage, current, power consumption / temperature and the like of each system module of the exoskeleton robot is monitored in real time by the parameter detection module; through overtemperature, overcurrent and overdischarge emergency treatment, the state parameters of each system module are displayed through an upper computer monitoring platform; and the safety isolation measures, such as circuit protection, battery protection, signal isolation, noise isolation and the like are adopted in the power supply safety aspect.

Description

technical field [0001] The invention relates to a power management system of an exoskeleton robot. Background technique [0002] An exoskeleton robot is a wearable device that can be worn on the outside of the human body. It can provide protection, additional power and capabilities, and enhance human body functions, allowing the operator to easily complete many difficult activities and tasks. It has broad application prospects in civilian use: assisting the disabled and the elderly to walk, disaster relief, fire protection, construction, furniture handling, etc.; Able to travel long distances with heavy loads in places where vehicles cannot pass. [0003] The main functions of the exoskeleton robot power management system (PM) include: power supply for each system module, real-time monitoring of battery physical parameters, battery state of charge (SOC) estimation, fault diagnosis and early warning, charge / discharge balance control, thermal management, etc. The battery man...

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Problems solved by technology

[0005] However, this device also has the following disadvantages: (1) The system uses a dual battery pack, but the design of the balanced charge and discharge circuit for the power supply of the dual battery pack increases the difficulty of the power management system and the complexity of the control. The design of the battery pack increases the difficulty of estimating its remaining power (SOC); (2) The digital logic circuit CPLD in the system is used to detect whether the current signal, voltage signal and temperature signal are abnormal, and this part of the work can be done by the central processing unit Complete, CPLD adds cost and redundant control logic; (3) The system uses the current integration method to measure the remaining time that the battery can continue to work. However, the power consumption is not stored after the power-off system is restarted, so it is impossible to accurately estimate the remaining battery power (SOC); (4) The system lacks battery protection and circuit protection, and lacks safe and effective isolation, which easily threatens the personal safety of the wearer

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